Map-based Control of Distributed Robot Helpers for Transporting an Object in Cooperation with a Human
نویسندگان
چکیده
In this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to the omni-directional mobile robots referred to as DR Helpers. Experimental results illustrate the validity of the proposed control algorithm.
منابع مشابه
Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human
In this paper, we propose a concept of distributed robot helpers referred to as DR Helpers, and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The proposed control algorithm could be applied to DR Helpers more than three, even if each DR Helper has a slippage between its wheels and the ground. The proposed decentralized control algori...
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